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Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and extreme deformations, enabling them to navigate unstructured terrain and even survive harsh impacts. However, they are hard to control due to their high dimensionality, complex dynamics, and coupled architecture. Physics-based simulation is one...
Context in source publication
Context 1
... Each rod has 6 attachment points, which are distributed symmetrically and evenly on two end caps. Since points are placed every 2π/3 on the disk that perpendicular to the rod, we can infer other 5 point positions once we get only one of them. At the robot rest state, one rod is in the center and other two rods are on the side as shown in Fig. 4. We first get compute A directly which is on top of the end cap. Then B, C, D, E, F can be inferred from it. G, H are closest to B, C. Then all rest points can be ...
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